ekfslam_v1.0-fgx
所属分类：matlab编程
开发工具：matlab
文件大小：25KB
下载次数：21
上传日期：2014-05-26 22:46:57
上 传 者：
hlgwcp
说明： EKF框架下基于点特征的移动机器人同时定位与地图构建仿真程序
(EKF under the framework of point-based mobile robot simultaneous localization and map building simulation program)
文件列表:
ekfslam_v1.0 fgx (0, 2014-04-11)
ekfslam_v1.0 fgx\add_control_noise.m (277, 2004-03-25)
ekfslam_v1.0 fgx\add_observation_noise.m (343, 2004-03-25)
ekfslam_v1.0 fgx\augment.m (1085, 2014-03-23)
ekfslam_v1.0 fgx\augment_associate_known.m (490, 2004-03-25)
ekfslam_v1.0 fgx\ckf_predict.m (0, 2012-04-26)
ekfslam_v1.0 fgx\compute_steering.m (1140, 2004-03-25)
ekfslam_v1.0 fgx\configfile.m (2046, 2004-03-26)
ekfslam_v1.0 fgx\data_associate.m (1557, 2004-03-25)
ekfslam_v1.0 fgx\data_associate_known.m (879, 2004-03-25)
ekfslam_v1.0 fgx\ekfslam_sim.m (7118, 2014-04-01)
ekfslam_v1.0 fgx\example_webmap.mat (1072, 2004-03-26)
ekfslam_v1.0 fgx\frontend.fig (54416, 2004-02-16)
ekfslam_v1.0 fgx\frontend.m (5629, 2004-03-26)
ekfslam_v1.0 fgx\get_observations.m (2241, 2014-03-23)
ekfslam_v1.0 fgx\KF_cholesky_update.m (611, 2004-03-08)
ekfslam_v1.0 fgx\KF_IEKF_update.m (1470, 2004-03-26)
ekfslam_v1.0 fgx\KF_simple_update.m (632, 2004-02-13)
ekfslam_v1.0 fgx\line_plot_conversion.m (827, 2004-02-13)
ekfslam_v1.0 fgx\lm.mat (237, 2014-03-23)
ekfslam_v1.0 fgx\observe_heading.m (417, 2004-03-25)
ekfslam_v1.0 fgx\observe_model.m (940, 2014-03-22)
ekfslam_v1.0 fgx\pi_to_pi.m (239, 2004-02-13)
ekfslam_v1.0 fgx\plot_feature_loci.m (586, 2004-03-26)
ekfslam_v1.0 fgx\predict.m (852, 2004-03-16)
ekfslam_v1.0 fgx\TransformToGlobal.m (433, 2004-03-25)
ekfslam_v1.0 fgx\update.m (1125, 2004-03-25)
ekfslam_v1.0 fgx\update_iekf.m (1045, 2004-03-25)
ekfslam_v1.0 fgx\vehicle_model.m (340, 2004-03-25)
ekfslam_v1.0 fgx\wp.mat (227, 2014-03-22)
EKF-SLAM Simulator
------------------
This simulator demonstrates a simple implementation of
standard EKF-SLAM. It permits simple configuration via
'configfile.m' to perform SLAM with various control parameters,
noises, etc. Also various switches are available to choose
known data-association versus gating, etc.
The key file in this simulator is called 'ekfslam_sim.m'. Type
'help ekfslam_sim' for more information of how to use it.
In addition to on-line animations, the simulator returns a
data-structure of the logged state information for off-line
processing. An example use of this data is shown in m-file
'plot_feature_loci.m', which plots the trajectories of the
landmark estimates.
Tim Bailey and Juan Nieto
2004.
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